Upload folder sequences/2024-03-18-christ-church-02 from Google Drive
Browse files- .gitattributes +6 -0
- sequences/2024-03-18-christ-church-02/processed/colmap/database.db +3 -0
- sequences/2024-03-18-christ-church-02/processed/colmap/evo_align_results.json +25 -0
- sequences/2024-03-18-christ-church-02/processed/colmap/images.zip +3 -0
- sequences/2024-03-18-christ-church-02/processed/colmap/sparse.zip +3 -0
- sequences/2024-03-18-christ-church-02/processed/colmap/transforms_colmap.json +0 -0
- sequences/2024-03-18-christ-church-02/processed/colmap/transforms_colmap_scaled.json +0 -0
- sequences/2024-03-18-christ-church-02/processed/trajectory/colmap-tum.txt +534 -0
- sequences/2024-03-18-christ-church-02/processed/trajectory/gt-tum.txt +0 -0
- sequences/2024-03-18-christ-church-02/processed/trajectory/hba-tum.txt +584 -0
- sequences/2024-03-18-christ-church-02/processed/trajectory/vilens-slam-tum.txt +584 -0
- sequences/2024-03-18-christ-church-02/processed/vilens-slam/slam-poses.csv +584 -0
- sequences/2024-03-18-christ-church-02/processed/vilens-slam/undist-clouds.zip +3 -0
- sequences/2024-03-18-christ-church-02/raw/images.zip +3 -0
- sequences/2024-03-18-christ-church-02/raw/imu.csv +3 -0
- sequences/2024-03-18-christ-church-02/raw/lidar-clouds.zip +3 -0
- sequences/2024-03-18-christ-church-02/raw/ros2bag/1710754066_2024-03-18-09-27-47_0/1710754066_2024-03-18-09-27-47_0_blurred_filtered_compressed.db3 +3 -0
- sequences/2024-03-18-christ-church-02/raw/ros2bag/1710754066_2024-03-18-09-27-47_0/metadata.yaml +57 -0
- sequences/2024-03-18-christ-church-02/raw/ros2bag/1710754066_2024-03-18-09-36-49_1/1710754066_2024-03-18-09-36-49_1_blurred_filtered_compressed.db3 +3 -0
- sequences/2024-03-18-christ-church-02/raw/ros2bag/1710754066_2024-03-18-09-36-49_1/metadata.yaml +57 -0
- sequences/2024-03-18-christ-church-02/raw/rosbag/1710754066_2024-03-18-09-27-47_0.bag +3 -0
- sequences/2024-03-18-christ-church-02/raw/rosbag/1710754066_2024-03-18-09-36-49_1.bag +3 -0
.gitattributes
CHANGED
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@@ -115,3 +115,9 @@ sequences/2024-03-18-christ-church-01/raw/ros2bag/1710752531_2024-03-18-09-02-12
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sequences/2024-03-18-christ-church-01/raw/ros2bag/1710752531_2024-03-18-09-11-55_1/1710752531_2024-03-18-09-11-55_1_blurred_filtered.db3 filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-01/raw/rosbag/1710752531_2024-03-18-09-02-12_0.bag filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-01/raw/rosbag/1710752531_2024-03-18-09-11-55_1.bag filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-01/raw/ros2bag/1710752531_2024-03-18-09-11-55_1/1710752531_2024-03-18-09-11-55_1_blurred_filtered.db3 filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-01/raw/rosbag/1710752531_2024-03-18-09-02-12_0.bag filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-01/raw/rosbag/1710752531_2024-03-18-09-11-55_1.bag filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-02/processed/colmap/database.db filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-02/raw/imu.csv filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-02/raw/ros2bag/1710754066_2024-03-18-09-27-47_0/1710754066_2024-03-18-09-27-47_0_blurred_filtered_compressed.db3 filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-02/raw/ros2bag/1710754066_2024-03-18-09-36-49_1/1710754066_2024-03-18-09-36-49_1_blurred_filtered_compressed.db3 filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-02/raw/rosbag/1710754066_2024-03-18-09-27-47_0.bag filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-02/raw/rosbag/1710754066_2024-03-18-09-36-49_1.bag filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-18-christ-church-02/processed/colmap/database.db
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size 1618026496
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sequences/2024-03-18-christ-church-02/processed/colmap/evo_align_results.json
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sequences/2024-03-18-christ-church-02/processed/colmap/images.zip
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sequences/2024-03-18-christ-church-02/processed/colmap/sparse.zip
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sequences/2024-03-18-christ-church-02/processed/colmap/transforms_colmap.json
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The diff for this file is too large to render.
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sequences/2024-03-18-christ-church-02/processed/colmap/transforms_colmap_scaled.json
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sequences/2024-03-18-christ-church-02/processed/trajectory/colmap-tum.txt
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| 1 |
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# timestamp tx ty tz qx qy qz qw
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| 2 |
+
1710754091.305500992 0.18624495132228525 0.048426396857571774 -0.005933498630228573 0.4627628335664859 -0.5265084455247285 -0.4713426137075519 0.5352341143499584
|
| 3 |
+
1710754097.605396792 -0.44226943903019666 1.0496159018997346 -0.015313290977222727 0.6312925357983165 0.20762809576132435 0.2712402382863023 0.696267937815786
|
| 4 |
+
1710754098.805376892 -1.03786932158018 1.8985761120111135 0.01197431155252976 0.6638696332754493 0.05906336255805511 0.13038434820129066 0.7340221733450434
|
| 5 |
+
1710754099.805360392 -1.4277116580750882 2.8353122094098424 0.02461922013085388 0.6685597445901305 0.04940065738438226 0.11489352032895331 0.7330667922842986
|
| 6 |
+
1710754100.705345492 -1.7083902782162053 3.8222138975061934 0.02812257375707028 0.6782056687283128 0.043547985367355935 0.11374484851101428 0.7247087368815374
|
| 7 |
+
1710754101.605330692 -1.9091932578144242 4.8748493226002925 0.012014431608178888 0.6763464667944968 0.050576847839307604 0.11651104789220697 0.725549870812682
|
| 8 |
+
1710754102.405317392 -2.0509537796176307 5.909069789714213 0.03614453975545495 0.670283258791241 0.028413388599786038 0.0966405007889605 0.7352371358546376
|
| 9 |
+
1710754103.205304192 -2.1839971410891774 6.930347836772404 0.018925261479096622 0.6681406025927126 0.02074857825792753 0.05947818035488907 0.7413635934742092
|
| 10 |
+
1710754104.155288492 -2.322810062661963 8.068759066012637 0.041279588758002916 0.6907366500784936 -0.0037136827558705843 0.04937446017313261 0.7214092122237845
|
| 11 |
+
1710754105.055273592 -2.5277650427872604 9.22820423056465 0.04200515598282317 0.6626439281056392 0.0412424817577447 0.10802900543581029 0.7399539284494275
|
| 12 |
+
1710754105.955258792 -2.7542381972109293 10.33155696261613 0.01587117404313354 0.6709767557236942 0.04718408819083586 0.1263520951204413 0.7291083617397215
|
| 13 |
+
1710754106.855243792 -2.816946467110915 11.457185516422635 0.04819219436288946 0.665889290583892 0.03109116294633396 0.07371311456739585 0.7417487236342907
|
| 14 |
+
1710754107.755228892 -2.9386093692410125 12.579788877954131 0.05023415713778451 0.6750122547452851 0.029937010248365703 0.09783408285126709 0.7306782627078262
|
| 15 |
+
1710754108.655214092 -3.1190085962458323 13.69695276430673 0.01615406644132883 0.6768325574594143 0.015565864009509656 0.07825678020664073 0.7318000200821775
|
| 16 |
+
1710754109.605198392 -3.354704052822173 14.881676182889661 0.015001024921727002 0.669966930416686 0.027118190421662303 0.08776672140012967 0.7366857664642164
|
| 17 |
+
1710754110.505183492 -3.588329700738411 15.955582345921748 0.04140080847601818 0.6832367061679427 0.014815751732095372 0.07153839149214025 0.7265331068768376
|
| 18 |
+
1710754111.305170192 -3.7732182629548543 16.954829442265613 0.008413202527027819 0.6629620722231894 0.042960246005912306 0.10287662929512738 0.7403054148130477
|
| 19 |
+
1710754112.355152792 -4.0914567629208225 18.205799842716225 -0.0002635501703702192 0.6687483026195337 0.05066408376282916 0.12813919973545473 0.7306087898808247
|
| 20 |
+
1710754113.155139592 -4.320164152500352 19.201384149763463 0.033084401240593475 0.6701660778728173 0.06519281141494426 0.13414032806914888 0.7270720031701686
|
| 21 |
+
1710754113.955126492 -4.551403377452315 20.184038003967515 -0.0013133502867360702 0.6776417223924026 0.023576229735887577 0.07997600123639326 0.7306501876347771
|
| 22 |
+
1710754114.855108790 -4.751954229979651 21.243143376330917 0.02195919142993824 0.6794325352624639 0.0073817008530500106 0.06479425280868117 0.7308342119265501
|
| 23 |
+
1710754115.755093890 -4.8980188409299625 22.332464689815932 0.029335677514986613 0.6813411766107625 0.017616185278811036 0.07786807957924814 0.7275990882715041
|
| 24 |
+
1710754116.655079090 -5.072987379181116 23.418345899515558 0.007044601991455457 0.6740921230449495 0.037127368028777474 0.09982605441599887 0.7309282639573753
|
| 25 |
+
1710754117.555064190 -5.278810348746118 24.466519432724297 0.03928059477177043 0.6777369575190866 0.03858281033945277 0.10361946218963844 0.7269435949333422
|
| 26 |
+
1710754118.455039676 -5.445603795538913 25.4964378874563 0.027817344533458688 0.6800713664410306 0.0014163890040181926 0.05414690966827962 0.731142286126711
|
| 27 |
+
1710754119.355023976 -5.29621428713555 26.59837547814451 0.02127606249738817 0.6238095641623154 -0.17258515945651842 -0.1557926841274981 0.7461934266444189
|
| 28 |
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1710754120.255008476 -4.733532711757933 27.430409446062043 0.059431463734025136 0.5679137283149515 -0.3525954165962688 -0.35328624348125354 0.6544763552288342
|
| 29 |
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1710754121.154992876 -3.755172214188976 27.84111300479466 0.028415417619141348 0.5040987004298094 -0.43697609336472343 -0.4445248117918115 0.5977742765912034
|
| 30 |
+
1710754121.954979076 -2.7371593422993694 27.888374503344494 0.05664903722130815 0.4791871278810088 -0.46209929154485474 -0.474292334417348 0.5760995771043717
|
| 31 |
+
1710754122.754965176 -1.6984810669801664 27.958533806367008 0.01718372806649815 0.47724879285443705 -0.4808064923457751 -0.4792154052108153 0.5580423837360102
|
| 32 |
+
1710754123.554951376 -0.663435972196007 28.06058809619837 0.04293335070540377 0.4645654176088476 -0.4792740942560685 -0.49067767327029255 0.5600988629617041
|
| 33 |
+
1710754124.354937476 0.3592768298994038 28.136007227472742 0.015392761450580272 0.48554245417330416 -0.47399909500992 -0.46013143895546516 0.5725840043259283
|
| 34 |
+
1710754125.154923576 1.398324202946137 28.295058187760713 0.03215566555546029 0.5056738337248157 -0.4489200680823727 -0.4366246459534505 0.5934000883931423
|
| 35 |
+
1710754125.954909776 2.4311725237991766 28.521073657077203 0.012117893221540943 0.5186785040122082 -0.44774618981342296 -0.42897252752951703 0.5886242686197694
|
| 36 |
+
1710754126.754898163 3.495552459547458 28.745312312771983 0.022592176071664416 0.4921025282997367 -0.4524274044679635 -0.45224825614173136 0.5904371771358504
|
| 37 |
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1710754127.554884363 4.587214770850753 28.939835404114714 0.009225396732168933 0.5024905590313369 -0.4527526583647633 -0.4424340500488338 0.5888721251557091
|
| 38 |
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1710754128.354870463 5.673689195352333 29.070052196668115 0.02118502230742081 0.5062049346264325 -0.43972774474413134 -0.4429810950221303 0.5951166474860907
|
| 39 |
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1710754129.154856663 6.779058500189727 29.26114632348496 0.019591049737715804 0.5163317044738838 -0.4383270921269643 -0.4301691143761566 0.5968462652136199
|
| 40 |
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1710754129.854844463 7.735161645970061 29.461634651896894 0.03756588457246379 0.4901582450845365 -0.4599749250152201 -0.4657254256418819 0.5755586773245436
|
| 41 |
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1710754130.554836445 8.740827262968008 29.6061423235287 -0.0001937767488550124 0.4839154818065313 -0.427321860203135 -0.456508808458334 0.6122267080587359
|
| 42 |
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1710754131.354823445 9.780308747804275 29.78700746320765 0.043124274154667075 0.5276624303294261 -0.41137729203477 -0.42441537905158805 0.6100923448474668
|
| 43 |
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1710754132.154810545 10.87121935010598 30.078917890426446 -0.028426678568067576 0.501675656904267 -0.4434569503878103 -0.4471855261054258 0.5930367388823633
|
| 44 |
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1710754132.854799145 11.846053022258324 30.347448713225806 0.026418089180681337 0.4841273741586189 -0.42779439280640796 -0.44925949679766614 0.6170725626786404
|
| 45 |
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1710754133.654786145 12.882581795663159 30.5333064912064 0.002429312831156938 0.49515240443654956 -0.44135830429936196 -0.4381979527812922 0.606637863791059
|
| 46 |
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1710754134.554771545 13.995005499976237 30.721894257409495 0.0394120803931311 0.5140584580264493 -0.42338645708547307 -0.42588105175919105 0.6124648066955072
|
| 47 |
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1710754135.354758545 15.03136263731327 30.87632017367486 0.023864898475497442 0.509512748394207 -0.4477792299874611 -0.44396784767721575 0.5854767891594668
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| 48 |
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1710754136.154745645 16.06030591746075 31.063563434864424 0.028798281807091153 0.49108470938993143 -0.45606251438587675 -0.45817482874760757 0.5838823661299755
|
| 49 |
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1710754137.054731045 17.242129973388693 31.243959285000045 0.03500058481385926 0.49607508756067176 -0.4487543621816136 -0.45829629846494424 0.585229470155063
|
| 50 |
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1710754137.854718045 18.282559698174246 31.38670610007123 -0.003631731935406668 0.50136953342854 -0.43813392994039324 -0.4404253502957761 0.602239787129245
|
| 51 |
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1710754138.754703445 19.41075792754561 31.61266196822129 0.01842079868120805 0.5154559805398168 -0.42961447366102923 -0.42182048598443184 0.609757340054673
|
| 52 |
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1710754139.654686157 20.525073669152402 31.806398933361592 0.03929763184929563 0.5199018618469101 -0.4352341578986123 -0.4341132521786494 0.5931432930829433
|
| 53 |
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1710754140.554671557 21.621281767383493 31.954227262924128 0.006760923236369398 0.5142765546894716 -0.46495698248825157 -0.4508275418635332 0.5622180691061357
|
| 54 |
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1710754141.354658557 22.642608272181683 32.14045840935692 0.04133635784042611 0.49124333811860593 -0.4592403831549118 -0.45895580183965384 0.5806357078164752
|
| 55 |
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1710754142.154645557 23.66990480753714 32.315584377182816 -0.004654072012512389 0.5241315501980576 -0.4224397308408946 -0.42992847017404795 0.6016579613267465
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| 56 |
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1710754143.154629357 24.943536012259212 32.70730038038579 -0.025207773175957626 0.5306003606786276 -0.41171848898038643 -0.40355064412140135 0.621367862629393
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| 57 |
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1710754143.954612850 25.93504943777488 32.925840289847315 0.01821643871040468 0.5108829115517656 -0.4305520530088566 -0.4309743675727048 0.6065349741190178
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| 58 |
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1710754144.754599250 26.935002582193647 33.1439102657141 -0.009523737390189912 0.4768437587131226 -0.4665709506560397 -0.47586280361171834 0.5731371301172661
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| 59 |
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1710754145.554585750 27.948506887001965 33.25081262052572 0.01651158982165324 0.4930943091628284 -0.4778738477944774 -0.47083645715492856 0.553902174105797
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| 60 |
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1710754146.354572150 29.032358266860594 33.24884571874453 -0.01070840531734446 0.4796194422317974 -0.44631275984146157 -0.4871943844300882 0.5774181698004874
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| 61 |
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1710754147.254556950 30.07496865066888 33.319366569147554 0.03283213682630792 0.5030442055769329 -0.43569425281941265 -0.46007504973199614 0.5877482402438204
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| 62 |
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1710754148.204542840 31.095442547565696 33.54116846180299 0.03196274975947311 0.5138102344955274 -0.4431711884360118 -0.4253222019869506 0.5989151569002373
|
| 63 |
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1710754149.254525040 32.171860942452724 33.87426619147094 0.025059702219091984 0.5101793744597867 -0.4524037853418911 -0.42490721584673674 0.5954004356779763
|
| 64 |
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1710754150.254508140 33.26415792878426 34.23909425690097 0.019527961422220852 0.501005771099457 -0.430419413867582 -0.4455517779516806 0.6043310009051513
|
| 65 |
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1710754151.154492940 34.26238243552974 34.4633972612547 0.045322809206348624 0.5011115951197374 -0.4643807932855657 -0.4715913797637514 0.5575295674639531
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| 66 |
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1710754152.154477723 35.49540972226808 34.57877318480773 0.04899533541719148 0.4835625846831736 -0.4568611742504094 -0.48548580490471144 0.5672289021136798
|
| 67 |
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1710754153.004463423 36.50078738756383 34.58442083291024 0.02171460887508614 0.4766714340151479 -0.4528095159542136 -0.4844846283360466 0.5770810438416217
|
| 68 |
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1710754153.954447323 37.58155911623506 34.610011775133344 0.03999437950120338 0.48224450416668074 -0.4449945816594105 -0.46438509184315535 0.594782772925227
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| 69 |
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1710754155.154426923 38.96460423151233 34.79479414015731 0.0196395769201963 0.49114312039965075 -0.4368212862043528 -0.4657654318023303 0.5924762963535817
|
| 70 |
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1710754156.004412623 39.97310128330899 34.94630894111316 0.033059241872840706 0.49800090048838547 -0.44063563924285376 -0.4486120519629705 0.5971453452681116
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| 71 |
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1710754156.904397323 41.023333494363236 35.10157321297069 0.007982654530325595 0.48541348335670037 -0.46451885436851104 -0.4725285214455534 0.5703619732522144
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| 72 |
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1710754157.804382023 42.06881768171856 35.234707372430705 0.04215828874820682 0.4761782123536618 -0.46439304099310896 -0.478610999910664 0.5731709381339556
|
| 73 |
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1710754158.754366023 43.15860254263094 35.334144679288045 0.045678504223637895 0.47615115589923857 -0.4689378505127205 -0.46743406229167594 0.578690561960216
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| 74 |
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1710754159.654350823 44.246117269645474 35.478271537061424 0.020708559249530856 0.5049756612489283 -0.4215009793703094 -0.4421019154262146 0.6098216151568835
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| 75 |
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1710754160.504336423 45.33602421122502 35.63586554517635 0.05574200985388389 0.5108680136213818 -0.42325207478962 -0.4393701913188234 0.6056611171482668
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| 76 |
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1710754161.404321123 46.51658541457992 35.743735042612144 0.05530089201057897 0.5014955307661697 -0.440482557433583 -0.46657743441601235 0.5803299465925393
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| 77 |
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1710754162.304305923 47.71220221069187 35.93525234791305 0.02668183805061347 0.4869847331783295 -0.45027327996923294 -0.4653575550372482 0.586124721340718
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| 78 |
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1710754163.154291523 48.85062805314077 36.17139910396291 0.05062027970716737 0.4815171874666362 -0.43966012054795134 -0.46838070344454663 0.596204405564713
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| 79 |
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1710754164.054276323 50.022543929209526 36.41290587290255 0.05354998992879434 0.4807216374035378 -0.44432670348215564 -0.4597881582381216 0.6000627779230583
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| 80 |
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1710754165.054259423 51.26624952433361 36.62292478707721 0.02620800345197699 0.5042407093077845 -0.4695711537487153 -0.4492683077555877 0.5686846457311057
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| 81 |
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1710754165.904244923 52.445241277037084 36.873247208414725 0.03139827826641056 0.49245796908050804 -0.4476558599982706 -0.450011733661396 0.5954652124728821
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| 82 |
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1710754166.704231423 53.50189378236643 37.02968138183134 0.04881065828673714 0.5014357694088417 -0.4465287299542695 -0.4510357958166615 0.5879974263335009
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| 83 |
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1710754167.504217923 54.553910814211584 37.1890875465637 0.016720178904349015 0.499299997443496 -0.4531937436797664 -0.4632170202006412 0.5751042822296515
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| 84 |
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1710754168.304204323 55.633946804157056 37.33744968111988 0.058337477998911313 0.4850459566880487 -0.45805777664304825 -0.4754596662214856 0.5734558387129354
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| 85 |
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1710754169.004192523 56.62872232007811 37.48261475558117 0.030778264263182087 0.482427822683935 -0.44411446870043636 -0.46318806731149725 0.5962235729083565
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| 86 |
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1710754169.804178923 57.687495396380115 37.63811130236761 0.039323368838186545 0.5279292373366431 -0.43141298547384155 -0.41332383316669963 0.603603317805729
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| 87 |
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1710754170.504167123 58.68711382446126 37.81561454813768 0.024883543599416802 0.5008281648158392 -0.4407193712123475 -0.46680722388970775 0.580541644406132
|
| 88 |
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1710754171.304153523 59.78360982966609 38.031413137170674 0.044949543090140154 0.4985640025122967 -0.4454891040427482 -0.4522463184632453 0.5902937074156811
|
| 89 |
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1710754172.104142236 60.89364219295406 38.143218940742344 0.01395584300444358 0.5152291050902084 -0.4348413884992314 -0.4530471982824736 0.5832668105116257
|
| 90 |
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1710754172.804130336 61.88803487128722 38.320465013034124 0.04891315429919407 0.48847464894142956 -0.44500178930772494 -0.4615594856518597 0.591885771124176
|
| 91 |
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1710754173.604116836 62.92946958208864 38.59027066585679 0.058655894301071265 0.5044012460880262 -0.42469737674448593 -0.43915883836098635 0.6102057323728017
|
| 92 |
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1710754174.404103236 64.02832584239091 38.883192237756205 0.049408799535383296 0.508537202371799 -0.4358615771990607 -0.43213967744008425 0.6038790429443559
|
| 93 |
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1710754175.104091436 65.01764420415778 39.07090158337675 0.04393687572901589 0.5116134631902861 -0.43437940731145697 -0.4395987797787277 0.5969247084877981
|
| 94 |
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1710754175.804083087 66.03445208128687 39.199987556696236 0.030700844831329677 0.4858721928109593 -0.4614038727371008 -0.4758563239414796 0.5697327772220737
|
| 95 |
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1710754176.604069987 67.16662188113014 39.27126746020187 0.05135343837358414 0.46334936173651375 -0.4823527724643075 -0.5081597855166207 0.5426018837583073
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| 96 |
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1710754177.304058487 68.17669823211318 39.18874132408452 0.013399067680312071 0.42763324557721805 -0.512572518096648 -0.5408304644917421 0.511763255467606
|
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|
sequences/2024-03-18-christ-church-02/processed/trajectory/gt-tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
sequences/2024-03-18-christ-church-02/processed/trajectory/hba-tum.txt
ADDED
|
@@ -0,0 +1,584 @@
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| 1 |
+
# timestamp tx ty tz qx qy qz qw
|
| 2 |
+
1710754091.305500992 0.0167207 -0.0135653 -0.0562062 -0.0564255130070575 0.0017766504095486635 3.748280864029731e-05 0.9984052301496887
|
| 3 |
+
1710754097.605396792 -0.474159 0.991732 -0.0765891 -0.05906304551877245 -0.0005831954494576186 0.9039176966322784 0.423608326466928
|
| 4 |
+
1710754098.805376892 -1.08957 1.82748 -0.0447907 -0.06623836869281946 -0.002396291632048242 0.7950542236370776 0.6029058946271562
|
| 5 |
+
1710754099.805360392 -1.48058 2.76156 -0.0226222 -0.059198922246020046 -0.0036751313810566844 0.7850412950061206 0.616597231707502
|
| 6 |
+
1710754100.705345492 -1.75748 3.74758 -0.0128503 -0.05200693979056469 -0.015662181867590497 0.7823880942142425 0.6204182817298125
|
| 7 |
+
1710754101.605330692 -1.95903 4.7991 -0.0165946 -0.05139266884226505 -0.012462492444388462 0.7864205232183343 0.6154236268882952
|
| 8 |
+
1710754102.405317392 -2.09969 5.83216 0.0195619 -0.06050086688568202 -0.006090736800697161 0.7670871159342514 0.6386547616662526
|
| 9 |
+
1710754103.205304192 -2.23355 6.85193 0.0144534 -0.050175760466335935 0.012811489905780626 0.7467884116026962 0.6630424775864221
|
| 10 |
+
1710754104.163277000 -2.37445 8.00308 0.0363081 -0.03576199384893382 -0.015723897295488287 0.7313738742036279 0.6808568828925547
|
| 11 |
+
1710754105.062549000 -2.56722 9.15903 0.0566097 -0.06671644483650299 0.0011900007997348583 0.777524522532048 0.6253024202318312
|
| 12 |
+
1710754105.961185000 -2.79146 10.2565 0.0471254 -0.062440167311859744 -0.01560311682049953 0.7888948504458237 0.6111486588315598
|
| 13 |
+
1710754106.861109000 -2.86886 11.3761 0.0910057 -0.053224056516550856 0.0118903126258596 0.7584558053746541 0.6494386896136286
|
| 14 |
+
1710754107.760186000 -2.97413 12.5003 0.10679 -0.05558595937431909 -0.011174691832839367 0.7689394380111706 0.6368025345850491
|
| 15 |
+
1710754108.659384000 -3.15641 13.6186 0.0823674 -0.05270588105501422 -0.00905154392013574 0.7533541585639177 0.6554370079796592
|
| 16 |
+
1710754109.605198392 -3.37509 14.798 0.0971486 -0.05753374212031802 -0.0020194314784209855 0.7625045582278032 0.6444164717757912
|
| 17 |
+
1710754110.505183492 -3.61006 15.8684 0.138355 -0.04400388954429293 -0.011768497203702766 0.7495128219092313 0.6604208430782609
|
| 18 |
+
1710754111.305170192 -3.77903 16.8708 0.118374 -0.06303911598419622 0.003915917204804442 0.7759744276972137 0.6275941546958174
|
| 19 |
+
1710754112.355152792 -4.09135 18.1215 0.123311 -0.06375330457928373 -0.013282400954050422 0.7906170567885824 0.6088380437317269
|
| 20 |
+
1710754113.155210000 -4.30874 19.121 0.164785 -0.05685210011941429 -0.01126493965259201 0.7994778141622138 0.5978931045839586
|
| 21 |
+
1710754113.955126492 -4.55529 20.1019 0.139581 -0.048780704438547505 -0.006591194111619458 0.7573086213831545 0.6511993942053453
|
| 22 |
+
1710754114.855108790 -4.73418 21.1572 0.185093 -0.048181075464509844 -0.008600235620458863 0.7420426221259223 0.668563659543982
|
| 23 |
+
1710754115.755093890 -4.87344 22.2441 0.200022 -0.04686229604472185 -0.012864998914166703 0.7534969364032451 0.6556529446614873
|
| 24 |
+
1710754116.655079090 -5.03773 23.333 0.193546 -0.05404689260357502 -0.007990024123045947 0.7720134659342602 0.6332537416633096
|
| 25 |
+
1710754117.555064190 -5.23427 24.3809 0.237674 -0.05105763743258669 -0.013776183118292096 0.7746450507289511 0.6301812277588369
|
| 26 |
+
1710754118.455039676 -5.40609 25.4069 0.236833 -0.045540632630756354 -0.006758544842630165 0.7345015262847481 0.6770434851149345
|
| 27 |
+
1710754119.355023976 -5.26159 26.5027 0.25858 -0.06281221183840305 0.04554770858451118 0.5211790982281634 0.8499131601856428
|
| 28 |
+
1710754120.255008476 -4.70478 27.3598 0.299051 -0.03484868730049284 0.0357592869686536 0.25942490546075914 0.9644716485286658
|
| 29 |
+
1710754121.154992876 -3.76587 27.7785 0.26772 -0.03534499347250824 0.043220892017992396 0.11162397938535194 0.9921808167646541
|
| 30 |
+
1710754121.954979076 -2.7568 27.8243 0.304224 -0.03473410803740925 0.04682051083418126 0.06118921415907256 0.9964222305702873
|
| 31 |
+
1710754122.754965176 -1.7322 27.8938 0.267945 -0.03376800504948601 0.0322196048179465 0.03883190580671456 0.9981551492587568
|
| 32 |
+
1710754123.554951376 -0.664805 27.9843 0.312432 -0.034896196831640254 0.04619299580596048 0.027575497496314647 0.9979419093930214
|
| 33 |
+
1710754124.354937476 0.34786 28.0521 0.291901 -0.042990706436033824 0.02937050439698663 0.06291040941816399 0.9966601492075603
|
| 34 |
+
1710754125.154923576 1.36712 28.2053 0.315067 -0.04280360804759163 0.030044705648764936 0.10869902043671945 0.9926981866391642
|
| 35 |
+
1710754125.954909776 2.41532 28.4237 0.302195 -0.036609600131730126 0.018695600067271334 0.11603600041752546 0.9923940035708719
|
| 36 |
+
1710754126.754898163 3.48408 28.6413 0.329182 -0.041737512921305335 0.04158591287437208 0.08952542771572392 0.9942403078018238
|
| 37 |
+
1710754127.554884363 4.59219 28.8231 0.32256 -0.040859007721989304 0.030696605801386 0.0985075186170457 0.9938231878237505
|
| 38 |
+
1710754128.354870463 5.6677 28.9504 0.348162 -0.03510248526784348 0.037926884082472134 0.11076095351475276 0.9925025834567477
|
| 39 |
+
1710754129.154856663 6.76446 29.1417 0.355893 -0.03670010305245102 0.027740602307264384 0.12292501022401955 0.9913490824532976
|
| 40 |
+
1710754129.854844463 7.7494 29.3216 0.383605 -0.03215590478189563 0.03845160571812767 0.07029391045338775 0.996266148154461
|
| 41 |
+
1710754130.554836445 8.74073 29.4673 0.361789 -0.04216808988386694 0.07142778286446094 0.10715097429446059 0.9907767623124604
|
| 42 |
+
1710754131.354823445 9.76184 29.6588 0.411562 -0.026870496188204612 0.04010089431136654 0.15334597824664314 0.9869928599871469
|
| 43 |
+
1710754132.154810545 10.8603 29.9409 0.355316 -0.03600711045568681 0.04062331179613221 0.10228102970020082 0.9932732884251005
|
| 44 |
+
1710754132.854799145 11.8527 30.1781 0.421996 -0.048219491395299754 0.06905638767698563 0.11277997987457175 0.9900438233280769
|
| 45 |
+
1710754133.654786145 12.8802 30.3658 0.405587 -0.04921530772340587 0.04662800731737837 0.11158001751036012 0.9914401555876627
|
| 46 |
+
1710754134.554771545 13.9963 30.5425 0.454475 -0.03999101477548915 0.04262131574730699 0.13960205157880115 0.9884813652144306
|
| 47 |
+
1710754135.354758545 15.0182 30.7132 0.447969 -0.03126368752656134 0.02814978876893026 0.10201795929735562 0.9938926034614148
|
| 48 |
+
1710754136.154745645 16.0635 30.8672 0.467078 -0.036962685613195934 0.03978988451277932 0.08029396874757402 0.9952906126079374
|
| 49 |
+
1710754137.054731045 17.2476 31.043 0.477276 -0.03169588638276456 0.04200088195551621 0.087775762289642 0.9947495726341589
|
| 50 |
+
1710754137.854718045 18.278 31.1878 0.454279 -0.04133530695001885 0.044342407455625454 0.11355001909202644 0.9916811667388804
|
| 51 |
+
1710754138.754703445 19.4083 31.4031 0.48526 -0.04282459112459561 0.03542249265868236 0.13772697145606005 0.9889097950482639
|
| 52 |
+
1710754139.654686157 20.5212 31.6022 0.51935 -0.028695007995101083 0.02858650796487061 0.1219350339739555 0.9917112763139818
|
| 53 |
+
1710754140.554671557 21.6147 31.7376 0.496681 -0.022347005558158536 0.010190102534487488 0.0806202200519019 0.99644224783562
|
| 54 |
+
1710754141.354658557 22.638 31.9121 0.541507 -0.03666880817467199 0.03721410829623717 0.07741421725815115 0.9956292219581909
|
| 55 |
+
1710754142.154645557 23.6737 32.0619 0.50678 -0.026779399957316305 0.035781199942968356 0.13712499978143647 0.9895449984227642
|
| 56 |
+
1710754143.154629357 24.951 32.4456 0.503475 -0.04150961216568353 0.034316310057462385 0.16876204946096995 0.9841842884458314
|
| 57 |
+
1710754143.954612850 25.9276 32.6754 0.5535 -0.04000029450553315 0.04016449448297821 0.1282939823774538 0.9901148639971683
|
| 58 |
+
1710754144.754599250 26.9329 32.885 0.541288 -0.03574381163287026 0.04593531494970837 0.054126417615513386 0.9968363244216855
|
| 59 |
+
1710754145.554585750 27.9647 32.9488 0.574833 -0.025745605534636385 0.019560804205064786 0.049306010599511486 0.9982602146000145
|
| 60 |
+
1710754146.354572150 29.0428 32.9464 0.561023 -0.020349996249944463 0.06230368851880419 0.06167678863432811 0.9959418164698858
|
| 61 |
+
1710754147.254556950 30.0624 33.0551 0.610178 -0.022058799694940703 0.046658099354748184 0.09849869863782505 0.9937979862564004
|
| 62 |
+
1710754148.220158000 31.1076 33.2411 0.621822 -0.0436693000011806 0.026423800000714315 0.12216900000330287 0.991196000026797
|
| 63 |
+
1710754149.254525040 32.1682 33.5721 0.623402 -0.04808770260300355 0.021245201150009607 0.11381500616084457 0.992110053703251
|
| 64 |
+
1710754150.254508140 33.2603 33.932 0.633814 -0.036543410732238546 0.05176681520311843 0.1150010337740375 0.9913422911420067
|
| 65 |
+
1710754151.154492940 34.2737 34.119 0.66385 -0.016288597204276483 0.02430039582915655 0.0609530895382037 0.9977118287558842
|
| 66 |
+
1710754152.154477723 35.5045 34.2289 0.680667 -0.019476893042524132 0.04859458264119254 0.054403880566012926 0.9971456438026983
|
| 67 |
+
1710754153.015846000 36.5033 34.2523 0.660078 -0.02725040144339168 0.05668620300253879 0.058483603097743204 0.9963050527720084
|
| 68 |
+
1710754153.954447323 37.5699 34.2593 0.687896 -0.0389938009705916 0.05784440143979985 0.08404560209197239 0.9940170247419984
|
| 69 |
+
1710754155.154426923 38.9508 34.4524 0.682306 -0.028707811447498024 0.05757832295987386 0.090496236086188 0.9938163962932267
|
| 70 |
+
1710754156.013113000 39.9706 34.5847 0.704349 -0.03793199505089079 0.04577379402774584 0.10335998651429057 0.9928658704576012
|
| 71 |
+
1710754156.912262000 41.0182 34.7519 0.685668 -0.030604090887441877 0.03890228841660215 0.0598120821905809 0.9969817031425061
|
| 72 |
+
1710754157.811384000 42.0524 34.8692 0.72981 -0.033275813205340364 0.04778371896273059 0.05343092120379443 0.9968723956038348
|
| 73 |
+
1710754158.754366023 43.1374 34.9413 0.747581 -0.04447919714045542 0.04178119731390839 0.05928669618848909 0.9963739359436347
|
| 74 |
+
1710754159.654350823 44.2214 35.0921 0.736817 -0.03491978495713518 0.05484987637158201 0.12568094585873074 0.9899375735512945
|
| 75 |
+
1710754160.509297000 45.3215 35.2272 0.777789 -0.03190791222938216 0.04710621805445514 0.12679104859535112 0.990296379552031
|
| 76 |
+
1710754161.407696000 46.4888 35.3665 0.788646 -0.018703401406440754 0.04437770333707314 0.0881198066263502 0.9949450748169424
|
| 77 |
+
1710754162.307297000 47.6616 35.5502 0.77215 -0.034702690418678885 0.0488024865257628 0.07909647816167133 0.9950667252647072
|
| 78 |
+
1710754163.154291523 48.8214 35.7303 0.812134 -0.03526398407833506 0.06320127146466847 0.08426536195424618 0.993811551294757
|
| 79 |
+
1710754164.054276323 49.9879 35.9747 0.831793 -0.04468158461838122 0.05819657996584926 0.08876446944286462 0.9933466580407848
|
| 80 |
+
1710754165.054259423 51.2445 36.1574 0.811083 -0.03470149859757108 0.01362489944936196 0.07701169688764348 0.9963329597341253
|
| 81 |
+
1710754165.904244923 52.4067 36.4268 0.849889 -0.04261281410947584 0.04374241448349658 0.09507403147984411 0.9935953289881124
|
| 82 |
+
1710754166.704231423 53.4622 36.6133 0.8634 -0.03369991152503233 0.03734681277223628 0.09622833290912648 0.9940873399679182
|
| 83 |
+
1710754167.504217923 54.5124 36.7367 0.853845 -0.025003110289749244 0.034640114255749976 0.0795199327255352 0.9959174098586255
|
| 84 |
+
1710754168.304204323 55.5864 36.8981 0.903327 -0.02798130269984425 0.04443000428693733 0.06300380607907607 0.9966310961623825
|
| 85 |
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| 532 |
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| 533 |
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| 534 |
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| 535 |
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1710754595.053109000 -26.5389 29.6412 -1.65358 0.016427303188042693 0.0785968152532649 -0.6392731240635781 0.764776148419919
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| 536 |
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| 537 |
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| 538 |
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| 539 |
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| 540 |
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| 560 |
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1710754620.646830782 -11.4324 34.202 0.372111 -0.05244369819356373 0.06413589779082274 0.2257159922251564 0.9706639665652375
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| 567 |
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1710754627.146727573 -9.34154 40.7297 0.473159 -0.06516434203401032 -0.03036047299328426 0.7616593224770628 0.6439774271592759
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| 568 |
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1710754628.046715747 -9.59005 41.7402 0.46936 -0.050044446857609684 -0.026206572171140197 0.7801071716011978 0.6230903383379763
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| 569 |
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1710754628.946701447 -9.78629 42.7686 0.438682 -0.08015143057879222 -0.02008825753816479 0.8054852973941831 0.5868267595867267
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| 570 |
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1710754630.046683947 -10.0182 43.8228 0.457521 -0.07872859858768111 -0.009862762350618337 0.7337719188639612 0.6747468449499672
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| 571 |
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1710754634.746609247 -9.27617 43.0536 0.491079 0.004431200611528326 0.09409941298619995 -0.6070760837796014 0.7890401088915667
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| 572 |
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1710754635.746593347 -9.16074 41.9584 0.478799 0.003994599319533308 0.05899108995106417 -0.624768893572699 0.7785678673735559
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| 573 |
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1710754636.746577447 -9.13122 40.9156 0.502374 0.008474391541464708 0.07919161440470124 -0.6591171198912953 0.7478111360244529
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| 574 |
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1710754637.746561547 -9.05481 39.8155 0.52356 0.006699640892382376 0.0799291106464407 -0.657070087520776 0.7495500998389784
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| 575 |
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1710754638.646547247 -8.9434 38.7403 0.466742 -0.009288218728496774 0.09159918746060258 -0.6516009107996176 0.7529538969249824
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| 576 |
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1710754639.546532947 -8.65901 37.7171 0.465438 0.00030370696055099795 0.09811708725540791 -0.5964269225291124 0.7966478965220763
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| 577 |
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1710754640.446518647 -8.31997 36.7155 0.455816 -0.010033396793656398 0.08934237144911716 -0.593165810443717 0.8000447443320144
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| 578 |
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| 580 |
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| 581 |
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| 582 |
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| 583 |
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| 584 |
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1710754647.346418754 -6.62665 29.5156 0.210492 -0.04643221453790335 0.043075513486921735 -0.2641480827046336 0.9624003013270569
|
sequences/2024-03-18-christ-church-02/processed/trajectory/vilens-slam-tum.txt
ADDED
|
@@ -0,0 +1,584 @@
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| 1 |
+
# timestamp tx ty tz qx qy qz qw
|
| 2 |
+
1710754091.305500992 0.0167207 -0.0135653 -0.0562062 -0.05642551300705764 0.0017766504095489966 3.748270864036565e-05 0.9984052301496918
|
| 3 |
+
1710754097.605396792 -0.46812 1.00414 -0.082886 -0.05948831557944915 0.0033867208869513554 0.9042222368075844 0.4228851107497666
|
| 4 |
+
1710754098.805376892 -1.08355 1.83997 -0.0551866 -0.06744667772818001 0.0017025894377814543 0.7954947373167043 0.6021928011476602
|
| 5 |
+
1710754099.805360392 -1.47558 2.77416 -0.0382378 -0.060569911530130166 0.0005700761085201123 0.7854851495254952 0.6159091172448846
|
| 6 |
+
1710754100.705345492 -1.75336 3.76046 -0.0358923 -0.05344299491910634 -0.011406598915560062 0.7828889255697512 0.6197569410789173
|
| 7 |
+
1710754101.605330692 -1.95512 4.81577 -0.0515099 -0.052901908189089866 -0.007900401222963427 0.78703112183055 0.6145900951370882
|
| 8 |
+
1710754102.405317392 -2.09712 5.84895 -0.0243794 -0.06218592240600127 -0.0015898505728337842 0.7676972766064329 0.6377862297986192
|
| 9 |
+
1710754103.205304192 -2.23235 6.86849 -0.0386622 -0.052012582061635435 0.017278394040938894 0.74731674226159 0.6622037716157855
|
| 10 |
+
1710754104.163277000 -2.37473 8.01995 -0.027244 -0.03765169852155752 -0.011256299558006888 0.7320309712558601 0.6801369732935449
|
| 11 |
+
1710754105.062549000 -2.56909 9.17581 -0.01739 -0.06830529927461564 0.005732929939118003 0.7781009917367719 0.6243879933691635
|
| 12 |
+
1710754105.961185000 -2.79361 10.2795 -0.0446405 -0.0640304045499248 -0.010546100749393772 0.7898030561224716 0.6099180433400553
|
| 13 |
+
1710754106.861109000 -2.8733 11.3993 -0.0117279 -0.055117627823502414 0.016879008520561567 0.7592583832753383 0.648231327228631
|
| 14 |
+
1710754107.760186000 -2.98092 12.5236 -0.00731084 -0.057340302519444386 -0.006150010270221884 0.7698500338260216 0.6356140279278989
|
| 15 |
+
1710754108.659384000 -3.16575 13.6413 -0.0426182 -0.05458913343861967 -0.004060532487282886 0.7542804620351322 0.6542664007714348
|
| 16 |
+
1710754109.605198392 -3.38698 14.8205 -0.0397574 -0.05935562157372511 0.0030053510923420124 0.7633922774668133 0.6431952337793254
|
| 17 |
+
1710754110.505183492 -3.62278 15.8968 -0.0185546 -0.04592279969705379 -0.006417659957663746 0.7507429950474553 0.6589649956529017
|
| 18 |
+
1710754111.305170192 -3.79491 16.8987 -0.0487624 -0.06475901136404924 0.009294731631058983 0.777118136370345 0.6259451098421799
|
| 19 |
+
1710754112.355152792 -4.11107 18.1484 -0.0562788 -0.0652900155662499 -0.007865591875291233 0.7918181887829209 0.6072061447682702
|
| 20 |
+
1710754113.155210000 -4.33136 19.1478 -0.0249903 -0.05830013232235016 -0.005797693214316224 0.8006474438893357 0.5962643305766844
|
| 21 |
+
1710754113.955126492 -4.58105 20.1276 -0.0599171 -0.05061683200175891 -0.0012159107687416126 0.7585374795743347 0.6496594107377525
|
| 22 |
+
1710754114.855108790 -4.76148 21.1896 -0.0344864 -0.04997878903725736 -0.002992759343544371 0.7436848368742893 0.6666528537710936
|
| 23 |
+
1710754115.755093890 -4.90523 22.2763 -0.0314089 -0.04852289243085999 -0.007221018873585727 0.7551378822052014 0.6537278980242576
|
| 24 |
+
1710754116.655079090 -5.07417 23.3647 -0.0496011 -0.05554636761486326 -0.0023181686484404773 0.7736025489673687 0.6312276319760577
|
| 25 |
+
1710754117.555064190 -5.27496 24.4124 -0.0163883 -0.052479993395317864 -0.00807438898382662 0.7762599023065826 0.6281729209435408
|
| 26 |
+
1710754118.455039676 -5.45127 25.4379 -0.027922 -0.0473388995879619 -0.0011080499903555197 0.736193993592163 0.6751119941238212
|
| 27 |
+
1710754119.355023976 -5.30985 26.5447 -0.0341678 -0.06657670471969303 0.05123500363210365 0.5238770371381972 0.8476410600901714
|
| 28 |
+
1710754120.255008476 -4.75817 27.3997 0.00199598 -0.04002871088765513 0.0403197109668062 0.2621240712967374 0.9633602620302794
|
| 29 |
+
1710754121.154992876 -3.82153 27.8228 -0.0390991 -0.041201202582193994 0.04704300294831587 0.11437000716788659 0.9914680621380616
|
| 30 |
+
1710754121.954979076 -2.81243 27.8743 -0.00939826 -0.04080109870682835 0.05034279840440903 0.06393509797360718 0.9958479684370674
|
| 31 |
+
1710754122.754965176 -1.78847 27.9487 -0.0526193 -0.03986328992146176 0.03561399099580154 0.04166268946652398 0.9977007477537563
|
| 32 |
+
1710754123.554951376 -0.720178 28.0471 -0.0199822 -0.04119880048204883 0.049629700580694824 0.030805600360442612 0.9974420116706251
|
| 33 |
+
1710754124.354937476 0.291994 28.1213 -0.0482841 -0.049099995761965005 0.03299429715211777 0.06628049427904113 0.9960459140269278
|
| 34 |
+
1710754125.154923576 1.31039 28.2814 -0.0339819 -0.048739424017033336 0.03394331672604478 0.11206305522063897 0.9919244887846754
|
| 35 |
+
1710754125.954909776 2.35701 28.5068 -0.0567106 -0.042476717324400726 0.02266570924435396 0.1194480487176503 0.9916724044599299
|
| 36 |
+
1710754126.754898163 3.4245 28.7318 -0.0397185 -0.047798393053489686 0.04538059340486644 0.0928327865086696 0.993497855615583
|
| 37 |
+
1710754127.554884363 4.53268 28.9204 -0.0575242 -0.0469213901717235 0.03461769274888793 0.10218697859564946 0.9930547919921581
|
| 38 |
+
1710754128.354870463 5.60741 29.0559 -0.0410235 -0.041146686119556006 0.04194678584965006 0.11437296141736722 0.9916986654598684
|
| 39 |
+
1710754129.154856663 6.70272 29.2553 -0.0434696 -0.04266111140684255 0.03182570850964328 0.12660503385199404 0.9905242648490383
|
| 40 |
+
1710754129.854844463 7.68653 29.4429 -0.0249437 -0.0383758150496844 0.04223941656485675 0.07391382898648002 0.995630390452245
|
| 41 |
+
1710754130.554836445 8.67659 29.5954 -0.0555607 -0.04837072417719881 0.0753877376811457 0.11058205527236528 0.9898224947441997
|
| 42 |
+
1710754131.354823445 9.69803 29.7948 -0.0168565 -0.03284011068386807 0.04443291445535291 0.15717905113503602 0.986023320782812
|
| 43 |
+
1710754132.154810545 10.7938 30.0849 -0.0845578 -0.04220620329547228 0.04460600348284949 0.10617800829040897 0.9924490774907049
|
| 44 |
+
1710754132.854799145 11.7847 30.3306 -0.0279689 -0.05449480335593722 0.07303840449790233 0.11652700717604793 0.9889980609051728
|
| 45 |
+
1710754133.654786145 12.8106 30.5263 -0.0540387 -0.05540280913259729 0.05060250834131619 0.11548501903654694 0.9904711632692359
|
| 46 |
+
1710754134.554771545 13.9255 30.7125 -0.0153301 -0.04604621199002414 0.04680711218815614 0.143483037361707 0.9874722571289961
|
| 47 |
+
1710754135.354758545 14.9472 30.8909 -0.0328758 -0.03749749041379595 0.032149491781007344 0.10626097283446545 0.9931107461120148
|
| 48 |
+
1710754136.154745645 15.9914 31.054 -0.0232441 -0.04334529164344706 0.04362339158983208 0.08449018371110982 0.9945248082652375
|
| 49 |
+
1710754137.054731045 17.174 31.24 -0.0237227 -0.03806319971351051 0.04590539965448448 0.09194359930796982 0.9939769925186531
|
| 50 |
+
1710754137.854718045 18.203 31.3933 -0.055911 -0.04760391827790639 0.04835671856695023 0.11772304520070778 0.9907253803969591
|
| 51 |
+
1710754138.754703445 19.3314 31.6186 -0.0357508 -0.048948994211852996 0.03957469532034996 0.1419539832141489 0.9878698831858304
|
| 52 |
+
1710754139.654686157 20.433 31.8332 -0.015419 -0.035147393101973144 0.0325714936075191 0.1269589750830333 0.9907498055554572
|
| 53 |
+
1710754140.554671557 21.5391 31.9712 -0.0452739 -0.028625602515955133 0.014119501240988042 0.085122807481595 0.9958590875278267
|
| 54 |
+
1710754141.354658557 22.5611 32.1551 -0.00980565 -0.04305920511039656 0.04105770487285243 0.08179020970710911 0.9948721180744297
|
| 55 |
+
1710754142.154645557 23.5961 32.3137 -0.0538393 -0.03291171498166474 0.04004801823016457 0.141428064379138 0.9885904500139442
|
| 56 |
+
1710754143.154629357 24.8705 32.708 -0.0710827 -0.04747370251787017 0.03871800205349285 0.17310100918078533 0.9829970521353685
|
| 57 |
+
1710754143.954612850 25.8549 32.9398 -0.0299955 -0.04602119447761808 0.044428394668748816 0.13248398410238652 0.9891188813092036
|
| 58 |
+
1710754144.754599250 26.8587 33.1577 -0.0521554 -0.042090608083713774 0.04977230955902279 0.05829271119540941 0.9961691913193221
|
| 59 |
+
1710754145.554585750 27.8898 33.2307 -0.0269736 -0.03201618976737767 0.023411992517345714 0.05361458286436367 0.9977736811038
|
| 60 |
+
1710754146.354572150 28.9682 33.2371 -0.0484712 -0.02671928734438396 0.06625276861931262 0.06567586889256175 0.9952805285844245
|
| 61 |
+
1710754147.254556950 29.9875 33.355 -0.00815069 -0.028192710111377906 0.05083211823105194 0.10258603679270928 0.9930243561503843
|
| 62 |
+
1710754148.220158000 31.0437 33.5389 -0.00567563 -0.04942289995115114 0.0308543999695039 0.12624199987522416 0.9902869990212152
|
| 63 |
+
1710754149.254525040 32.1018 33.8783 -0.0163977 -0.05385542028029175 0.02561810964699096 0.11793904441220997 0.9912283732660616
|
| 64 |
+
1710754150.254508140 33.1911 34.2467 -0.0186818 -0.042403003753882756 0.05620190497548161 0.11888301052455824 0.9904090876796279
|
| 65 |
+
1710754151.154492940 34.2031 34.4423 0.00107275 -0.02230340710874188 0.028508109086360034 0.06495802070400278 0.9972313178465066
|
| 66 |
+
1710754152.154477723 35.4333 34.562 0.00713602 -0.02558941238388575 0.05274632552635694 0.05826092819512505 0.9965784822898583
|
| 67 |
+
1710754153.015846000 36.4448 34.5816 -0.019383 -0.03316111500570537 0.06110332764981019 0.06210362810245544 0.9956454505385993
|
| 68 |
+
1710754153.954447323 37.5118 34.597 -0.000405001 -0.044782119062029356 0.06236172654499361 0.08769423732807115 0.9931844227604908
|
| 69 |
+
1710754155.154426923 38.8918 34.8005 -0.0197396 -0.03446578410095849 0.062181671315639564 0.0940944565942946 0.9930215419198738
|
| 70 |
+
1710754156.013113000 39.9119 34.9409 -0.0079078 -0.04358779543577311 0.05042699471961709 0.10704998879043016 0.9920168961225235
|
| 71 |
+
1710754156.912262000 40.9585 35.1157 -0.0372567 -0.036433594821306974 0.04334749383856096 0.06353509096908425 0.9963718583751063
|
| 72 |
+
1710754157.811384000 42.0096 35.2299 -0.00174163 -0.039010511876700855 0.052449715968249544 0.056907317325360494 0.9962373033031829
|
| 73 |
+
1710754158.754366023 43.0951 35.3098 0.00557458 -0.050147795859070025 0.046445196164810354 0.06284539481057178 0.9956799177822123
|
| 74 |
+
1710754159.654350823 44.178 35.4679 -0.0164996 -0.0402891950199357 0.05990649259508207 0.12909398404295921 0.9890008777516416
|
| 75 |
+
1710754160.509297000 45.2775 35.6108 0.0131522 -0.03723789475484146 0.05218709264916599 0.13023798165527695 0.9894078606365597
|
| 76 |
+
1710754161.407696000 46.4441 35.7584 0.0120692 -0.024222192258613186 0.04930418424243532 0.0915442707425488 0.9942846822276754
|
| 77 |
+
1710754162.307297000 47.6425 35.9444 -0.0158196 -0.040029588320148815 0.0537830843071474 0.08273607585923073 0.9943137098787008
|
| 78 |
+
1710754163.154291523 48.7888 36.1276 0.011123 -0.04076298368649377 0.06822987269413638 0.08747986499021428 0.9929906026012584
|
| 79 |
+
1710754164.054276323 49.9537 36.3797 0.0170834 -0.050143514589205795 0.06322711839586748 0.0920479267812529 0.9924792887608641
|
| 80 |
+
1710754165.054259423 51.2088 36.5709 -0.0176356 -0.04010259506417329 0.01863709770614652 0.08051589009010568 0.9957718774404148
|
| 81 |
+
1710754165.904244923 52.3695 36.8482 0.00719168 -0.0480076961583732 0.048830996092492085 0.09843219212335176 0.9927849205562969
|
| 82 |
+
1710754166.704231423 53.4319 37.0256 0.00936425 -0.03910870829144497 0.04264140904041369 0.09932702105834128 0.9933712106048264
|
| 83 |
+
1710754167.504217923 54.4811 37.1554 -0.011815 -0.030502399995162934 0.03987879999367627 0.0826035999869008 0.9953169998421627
|
| 84 |
+
1710754168.304204323 55.5545 37.3241 0.0253557 -0.033592194886050135 0.04957399245304073 0.0660486899449949 0.9960178483699744
|
| 85 |
+
1710754169.004192523 56.5553 37.4297 0.00322185 -0.045040979666018305 0.06302177154849709 0.08874675993481917 0.9930375516880948
|
| 86 |
+
1710754169.804178923 57.6167 37.5748 0.00800604 -0.043991906903156686 0.025197203953914782 0.14608502292348455 0.9879721550313924
|
| 87 |
+
1710754170.504167123 58.6051 37.8008 0.000258731 -0.024755094066457393 0.049695088088596684 0.09003657841915409 0.9943897616549553
|
| 88 |
+
1710754171.304153523 59.7118 37.9839 0.0196236 -0.040703181445376754 0.04579957912217403 0.09881575495464881 0.993217547239878
|
| 89 |
+
1710754172.104142236 60.8278 38.054 -0.00844149 -0.022403610251072528 0.0400579183290376 0.10802204942693835 0.993088454400949
|
| 90 |
+
1710754172.804130336 61.8161 38.2637 0.0279992 -0.040981090372898994 0.056380886755244886 0.08925707903211189 0.9935667665955797
|
| 91 |
+
1710754173.604116836 62.8611 38.5212 0.0414286 -0.043351403007290186 0.056868303944958676 0.12796800887715068 0.9891970686206772
|
| 92 |
+
1710754174.404103236 63.9729 38.7771 0.0317797 -0.04733070194458832 0.042266801736537185 0.1246380051207693 0.9901710406813116
|
| 93 |
+
1710754175.104091436 64.9519 38.9908 0.0296639 -0.03767998981143746 0.04155288876421637 0.1201999674982691 0.9911637319921335
|
| 94 |
+
1710754175.804083087 65.9665 39.1367 0.0164432 -0.032394991374348446 0.04610508772383004 0.06167008357941674 0.9965047346656919
|
| 95 |
+
1710754176.604069987 67.1019 39.1838 0.0420487 -0.02486850651175309 0.048793112776348124 0.009688712536963929 0.9984522614421008
|
| 96 |
+
1710754177.304058487 68.12 39.052 0.00352015 -0.02631039377958692 0.0531029874451705 -0.05467818707275481 0.996743764345681
|
| 97 |
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|
sequences/2024-03-18-christ-church-02/processed/vilens-slam/slam-poses.csv
ADDED
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@@ -0,0 +1,584 @@
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| 1 |
+
# counter, sec, nsec, x, y, z, qx, qy, qz, qw
|
| 2 |
+
0, 1710754091, 305500992, 0.0167207, -0.0135653, -0.0562062, -0.0564255, 0.00177665, 3.74827e-05, 0.998405
|
| 3 |
+
1, 1710754097, 605396792, -0.46812, 1.00414, -0.082886, -0.0594883, 0.00338672, 0.904222, 0.422885
|
| 4 |
+
2, 1710754098, 805376892, -1.08355, 1.83997, -0.0551866, -0.0674467, 0.00170259, 0.795495, 0.602193
|
| 5 |
+
3, 1710754099, 805360392, -1.47558, 2.77416, -0.0382378, -0.0605699, 0.000570076, 0.785485, 0.615909
|
| 6 |
+
4, 1710754100, 705345492, -1.75336, 3.76046, -0.0358923, -0.053443, -0.0114066, 0.782889, 0.619757
|
| 7 |
+
5, 1710754101, 605330692, -1.95512, 4.81577, -0.0515099, -0.0529019, -0.0079004, 0.787031, 0.61459
|
| 8 |
+
6, 1710754102, 405317392, -2.09712, 5.84895, -0.0243794, -0.0621859, -0.00158985, 0.767697, 0.637786
|
| 9 |
+
7, 1710754103, 205304192, -2.23235, 6.86849, -0.0386622, -0.0520126, 0.0172784, 0.747317, 0.662204
|
| 10 |
+
8, 1710754104, 163277000, -2.37473, 8.01995, -0.027244, -0.0376517, -0.0112563, 0.732031, 0.680137
|
| 11 |
+
9, 1710754105, 62549000, -2.56909, 9.17581, -0.01739, -0.0683053, 0.00573293, 0.778101, 0.624388
|
| 12 |
+
10, 1710754105, 961185000, -2.79361, 10.2795, -0.0446405, -0.0640304, -0.0105461, 0.789803, 0.609918
|
| 13 |
+
11, 1710754106, 861109000, -2.8733, 11.3993, -0.0117279, -0.0551176, 0.016879, 0.759258, 0.648231
|
| 14 |
+
12, 1710754107, 760186000, -2.98092, 12.5236, -0.00731084, -0.0573403, -0.00615001, 0.76985, 0.635614
|
| 15 |
+
13, 1710754108, 659384000, -3.16575, 13.6413, -0.0426182, -0.0545891, -0.00406053, 0.75428, 0.654266
|
| 16 |
+
14, 1710754109, 605198392, -3.38698, 14.8205, -0.0397574, -0.0593556, 0.00300535, 0.763392, 0.643195
|
| 17 |
+
15, 1710754110, 505183492, -3.62278, 15.8968, -0.0185546, -0.0459228, -0.00641766, 0.750743, 0.658965
|
| 18 |
+
16, 1710754111, 305170192, -3.79491, 16.8987, -0.0487624, -0.064759, 0.00929473, 0.777118, 0.625945
|
| 19 |
+
17, 1710754112, 355152792, -4.11107, 18.1484, -0.0562788, -0.06529, -0.00786559, 0.791818, 0.607206
|
| 20 |
+
18, 1710754113, 155210000, -4.33136, 19.1478, -0.0249903, -0.0583001, -0.00579769, 0.800647, 0.596264
|
| 21 |
+
19, 1710754113, 955126492, -4.58105, 20.1276, -0.0599171, -0.0506168, -0.00121591, 0.758537, 0.649659
|
| 22 |
+
20, 1710754114, 855108790, -4.76148, 21.1896, -0.0344864, -0.0499788, -0.00299276, 0.743685, 0.666653
|
| 23 |
+
21, 1710754115, 755093890, -4.90523, 22.2763, -0.0314089, -0.0485229, -0.00722102, 0.755138, 0.653728
|
| 24 |
+
22, 1710754116, 655079090, -5.07417, 23.3647, -0.0496011, -0.0555464, -0.00231817, 0.773603, 0.631228
|
| 25 |
+
23, 1710754117, 555064190, -5.27496, 24.4124, -0.0163883, -0.05248, -0.00807439, 0.77626, 0.628173
|
| 26 |
+
24, 1710754118, 455039676, -5.45127, 25.4379, -0.027922, -0.0473389, -0.00110805, 0.736194, 0.675112
|
| 27 |
+
25, 1710754119, 355023976, -5.30985, 26.5447, -0.0341678, -0.0665767, 0.051235, 0.523877, 0.847641
|
| 28 |
+
26, 1710754120, 255008476, -4.75817, 27.3997, 0.00199598, -0.0400287, 0.0403197, 0.262124, 0.96336
|
| 29 |
+
27, 1710754121, 154992876, -3.82153, 27.8228, -0.0390991, -0.0412012, 0.047043, 0.11437, 0.991468
|
| 30 |
+
28, 1710754121, 954979076, -2.81243, 27.8743, -0.00939826, -0.0408011, 0.0503428, 0.0639351, 0.995848
|
| 31 |
+
29, 1710754122, 754965176, -1.78847, 27.9487, -0.0526193, -0.0398633, 0.035614, 0.0416627, 0.997701
|
| 32 |
+
30, 1710754123, 554951376, -0.720178, 28.0471, -0.0199822, -0.0411988, 0.0496297, 0.0308056, 0.997442
|
| 33 |
+
31, 1710754124, 354937476, 0.291994, 28.1213, -0.0482841, -0.0491, 0.0329943, 0.0662805, 0.996046
|
| 34 |
+
32, 1710754125, 154923576, 1.31039, 28.2814, -0.0339819, -0.0487394, 0.0339433, 0.112063, 0.991924
|
| 35 |
+
33, 1710754125, 954909776, 2.35701, 28.5068, -0.0567106, -0.0424767, 0.0226657, 0.119448, 0.991672
|
| 36 |
+
34, 1710754126, 754898163, 3.4245, 28.7318, -0.0397185, -0.0477984, 0.0453806, 0.0928328, 0.993498
|
| 37 |
+
35, 1710754127, 554884363, 4.53268, 28.9204, -0.0575242, -0.0469214, 0.0346177, 0.102187, 0.993055
|
| 38 |
+
36, 1710754128, 354870463, 5.60741, 29.0559, -0.0410235, -0.0411467, 0.0419468, 0.114373, 0.991699
|
| 39 |
+
37, 1710754129, 154856663, 6.70272, 29.2553, -0.0434696, -0.0426611, 0.0318257, 0.126605, 0.990524
|
| 40 |
+
38, 1710754129, 854844463, 7.68653, 29.4429, -0.0249437, -0.0383758, 0.0422394, 0.0739138, 0.99563
|
| 41 |
+
39, 1710754130, 554836445, 8.67659, 29.5954, -0.0555607, -0.0483707, 0.0753877, 0.110582, 0.989822
|
| 42 |
+
40, 1710754131, 354823445, 9.69803, 29.7948, -0.0168565, -0.0328401, 0.0444329, 0.157179, 0.986023
|
| 43 |
+
41, 1710754132, 154810545, 10.7938, 30.0849, -0.0845578, -0.0422062, 0.044606, 0.106178, 0.992449
|
| 44 |
+
42, 1710754132, 854799145, 11.7847, 30.3306, -0.0279689, -0.0544948, 0.0730384, 0.116527, 0.988998
|
| 45 |
+
43, 1710754133, 654786145, 12.8106, 30.5263, -0.0540387, -0.0554028, 0.0506025, 0.115485, 0.990471
|
| 46 |
+
44, 1710754134, 554771545, 13.9255, 30.7125, -0.0153301, -0.0460462, 0.0468071, 0.143483, 0.987472
|
| 47 |
+
45, 1710754135, 354758545, 14.9472, 30.8909, -0.0328758, -0.0374975, 0.0321495, 0.106261, 0.993111
|
| 48 |
+
46, 1710754136, 154745645, 15.9914, 31.054, -0.0232441, -0.0433453, 0.0436234, 0.0844902, 0.994525
|
| 49 |
+
47, 1710754137, 54731045, 17.174, 31.24, -0.0237227, -0.0380632, 0.0459054, 0.0919436, 0.993977
|
| 50 |
+
48, 1710754137, 854718045, 18.203, 31.3933, -0.055911, -0.0476039, 0.0483567, 0.117723, 0.990725
|
| 51 |
+
49, 1710754138, 754703445, 19.3314, 31.6186, -0.0357508, -0.048949, 0.0395747, 0.141954, 0.98787
|
| 52 |
+
50, 1710754139, 654686157, 20.433, 31.8332, -0.015419, -0.0351474, 0.0325715, 0.126959, 0.99075
|
| 53 |
+
51, 1710754140, 554671557, 21.5391, 31.9712, -0.0452739, -0.0286256, 0.0141195, 0.0851228, 0.995859
|
| 54 |
+
52, 1710754141, 354658557, 22.5611, 32.1551, -0.00980565, -0.0430592, 0.0410577, 0.0817902, 0.994872
|
| 55 |
+
53, 1710754142, 154645557, 23.5961, 32.3137, -0.0538393, -0.0329117, 0.040048, 0.141428, 0.98859
|
| 56 |
+
54, 1710754143, 154629357, 24.8705, 32.708, -0.0710827, -0.0474737, 0.038718, 0.173101, 0.982997
|
| 57 |
+
55, 1710754143, 954612850, 25.8549, 32.9398, -0.0299955, -0.0460212, 0.0444284, 0.132484, 0.989119
|
| 58 |
+
56, 1710754144, 754599250, 26.8587, 33.1577, -0.0521554, -0.0420906, 0.0497723, 0.0582927, 0.996169
|
| 59 |
+
57, 1710754145, 554585750, 27.8898, 33.2307, -0.0269736, -0.0320162, 0.023412, 0.0536146, 0.997774
|
| 60 |
+
58, 1710754146, 354572150, 28.9682, 33.2371, -0.0484712, -0.0267193, 0.0662528, 0.0656759, 0.995281
|
| 61 |
+
59, 1710754147, 254556950, 29.9875, 33.355, -0.00815069, -0.0281927, 0.0508321, 0.102586, 0.993024
|
| 62 |
+
60, 1710754148, 220158000, 31.0437, 33.5389, -0.00567563, -0.0494229, 0.0308544, 0.126242, 0.990287
|
| 63 |
+
61, 1710754149, 254525040, 32.1018, 33.8783, -0.0163977, -0.0538554, 0.0256181, 0.117939, 0.991228
|
| 64 |
+
62, 1710754150, 254508140, 33.1911, 34.2467, -0.0186818, -0.042403, 0.0562019, 0.118883, 0.990409
|
| 65 |
+
63, 1710754151, 154492940, 34.2031, 34.4423, 0.00107275, -0.0223034, 0.0285081, 0.064958, 0.997231
|
| 66 |
+
64, 1710754152, 154477723, 35.4333, 34.562, 0.00713602, -0.0255894, 0.0527463, 0.0582609, 0.996578
|
| 67 |
+
65, 1710754153, 15846000, 36.4448, 34.5816, -0.019383, -0.0331611, 0.0611033, 0.0621036, 0.995645
|
| 68 |
+
66, 1710754153, 954447323, 37.5118, 34.597, -0.000405001, -0.0447821, 0.0623617, 0.0876942, 0.993184
|
| 69 |
+
67, 1710754155, 154426923, 38.8918, 34.8005, -0.0197396, -0.0344658, 0.0621817, 0.0940945, 0.993022
|
| 70 |
+
68, 1710754156, 13113000, 39.9119, 34.9409, -0.0079078, -0.0435878, 0.050427, 0.10705, 0.992017
|
| 71 |
+
69, 1710754156, 912262000, 40.9585, 35.1157, -0.0372567, -0.0364336, 0.0433475, 0.0635351, 0.996372
|
| 72 |
+
70, 1710754157, 811384000, 42.0096, 35.2299, -0.00174163, -0.0390105, 0.0524497, 0.0569073, 0.996237
|
| 73 |
+
71, 1710754158, 754366023, 43.0951, 35.3098, 0.00557458, -0.0501478, 0.0464452, 0.0628454, 0.99568
|
| 74 |
+
72, 1710754159, 654350823, 44.178, 35.4679, -0.0164996, -0.0402892, 0.0599065, 0.129094, 0.989001
|
| 75 |
+
73, 1710754160, 509297000, 45.2775, 35.6108, 0.0131522, -0.0372379, 0.0521871, 0.130238, 0.989408
|
| 76 |
+
74, 1710754161, 407696000, 46.4441, 35.7584, 0.0120692, -0.0242222, 0.0493042, 0.0915443, 0.994285
|
| 77 |
+
75, 1710754162, 307297000, 47.6425, 35.9444, -0.0158196, -0.0400296, 0.0537831, 0.0827361, 0.994314
|
| 78 |
+
76, 1710754163, 154291523, 48.7888, 36.1276, 0.011123, -0.040763, 0.0682299, 0.0874799, 0.992991
|
| 79 |
+
77, 1710754164, 54276323, 49.9537, 36.3797, 0.0170834, -0.0501435, 0.0632271, 0.0920479, 0.992479
|
| 80 |
+
78, 1710754165, 54259423, 51.2088, 36.5709, -0.0176356, -0.0401026, 0.0186371, 0.0805159, 0.995772
|
| 81 |
+
79, 1710754165, 904244923, 52.3695, 36.8482, 0.00719168, -0.0480077, 0.048831, 0.0984322, 0.992785
|
| 82 |
+
80, 1710754166, 704231423, 53.4319, 37.0256, 0.00936425, -0.0391087, 0.0426414, 0.099327, 0.993371
|
| 83 |
+
81, 1710754167, 504217923, 54.4811, 37.1554, -0.011815, -0.0305024, 0.0398788, 0.0826036, 0.995317
|
| 84 |
+
82, 1710754168, 304204323, 55.5545, 37.3241, 0.0253557, -0.0335922, 0.049574, 0.0660487, 0.996018
|
| 85 |
+
83, 1710754169, 4192523, 56.5553, 37.4297, 0.00322185, -0.045041, 0.0630218, 0.0887468, 0.993038
|
| 86 |
+
84, 1710754169, 804178923, 57.6167, 37.5748, 0.00800604, -0.0439919, 0.0251972, 0.146085, 0.987972
|
| 87 |
+
85, 1710754170, 504167123, 58.6051, 37.8008, 0.000258731, -0.0247551, 0.0496951, 0.0900366, 0.99439
|
| 88 |
+
86, 1710754171, 304153523, 59.7118, 37.9839, 0.0196236, -0.0407032, 0.0457996, 0.0988158, 0.993218
|
| 89 |
+
87, 1710754172, 104142236, 60.8278, 38.054, -0.00844149, -0.0224036, 0.0400579, 0.108022, 0.993088
|
| 90 |
+
88, 1710754172, 804130336, 61.8161, 38.2637, 0.0279992, -0.0409811, 0.0563809, 0.0892571, 0.993567
|
| 91 |
+
89, 1710754173, 604116836, 62.8611, 38.5212, 0.0414286, -0.0433514, 0.0568683, 0.127968, 0.989197
|
| 92 |
+
90, 1710754174, 404103236, 63.9729, 38.7771, 0.0317797, -0.0473307, 0.0422668, 0.124638, 0.990171
|
| 93 |
+
91, 1710754175, 104091436, 64.9519, 38.9908, 0.0296639, -0.03768, 0.0415529, 0.1202, 0.991164
|
| 94 |
+
92, 1710754175, 804083087, 65.9665, 39.1367, 0.0164432, -0.032395, 0.0461051, 0.0616701, 0.996505
|
| 95 |
+
93, 1710754176, 604069987, 67.1019, 39.1838, 0.0420487, -0.0248685, 0.0487931, 0.00968871, 0.998452
|
| 96 |
+
94, 1710754177, 304058487, 68.12, 39.052, 0.00352015, -0.0263104, 0.053103, -0.0546782, 0.996744
|
| 97 |
+
95, 1710754178, 104045387, 69.1676, 38.7101, 0.0467415, -0.0086431, 0.0587502, -0.234581, 0.970281
|
| 98 |
+
96, 1710754178, 804033987, 69.9955, 38.1399, 0.00651066, -0.00701803, 0.0843472, -0.377698, 0.922052
|
| 99 |
+
97, 1710754179, 504022587, 70.6365, 37.3487, 0.0160418, -0.00298239, 0.0498369, -0.507464, 0.860225
|
| 100 |
+
98, 1710754180, 304009387, 71.2155, 36.3639, 0.00949865, 0.00612209, 0.0892587, -0.53244, 0.841726
|
| 101 |
+
99, 1710754181, 103996287, 71.6207, 35.3406, 0.0389705, -0.00421718, 0.0591874, -0.55559, 0.829337
|
| 102 |
+
100, 1710754181, 803984787, 71.9149, 34.3383, -0.00194141, 0.011816, 0.0648035, -0.629346, 0.774328
|
| 103 |
+
101, 1710754182, 603971787, 72.1243, 33.2246, 0.0401652, 0.0162635, 0.0591965, -0.671767, 0.738214
|
| 104 |
+
102, 1710754183, 403958587, 72.2439, 32.1253, 0.0021738, 0.0157788, 0.0762806, -0.658002, 0.748976
|
| 105 |
+
103, 1710754184, 203947891, 72.3117, 31.0007, 0.0274012, 0.00633093, 0.0693753, -0.654702, 0.75267
|
| 106 |
+
104, 1710754184, 903936391, 72.3875, 30.0026, -0.0114348, 0.0161467, 0.0676318, -0.668401, 0.740544
|
| 107 |
+
105, 1710754185, 703923291, 72.4719, 28.8985, 0.00683466, 0.00624689, 0.0538129, -0.685956, 0.725624
|
| 108 |
+
106, 1710754186, 403911791, 72.5859, 27.8785, 0.000767698, -0.000889617, 0.0784434, -0.639992, 0.764367
|
| 109 |
+
107, 1710754187, 178352000, 72.6735, 26.8091, 0.0507533, 0.0190551, 0.079732, -0.648872, 0.756469
|
| 110 |
+
108, 1710754188, 103886424, 72.7981, 25.5802, 0.0427345, 0.00515279, 0.058569, -0.652576, 0.755438
|
| 111 |
+
109, 1710754188, 803875224, 72.8646, 24.5568, 0.0423744, 0.0220729, 0.0714818, -0.684487, 0.725177
|
| 112 |
+
110, 1710754189, 503864024, 72.8398, 23.533, 0.0159271, 0.0053656, 0.0808188, -0.678796, 0.729846
|
| 113 |
+
111, 1710754190, 303851124, 72.7513, 22.4746, 0.0504649, 0.00849207, 0.0620918, -0.675235, 0.734935
|
| 114 |
+
112, 1710754191, 103838324, 72.8522, 21.3888, 0.0260225, 0.00626845, 0.0532917, -0.664982, 0.74493
|
| 115 |
+
113, 1710754191, 803827124, 72.9814, 20.3893, 0.0495882, 0.00685287, 0.0559713, -0.648826, 0.758845
|
| 116 |
+
114, 1710754192, 603816799, 73.1711, 19.246, 0.0206398, -0.00579964, 0.0608557, -0.626197, 0.777264
|
| 117 |
+
115, 1710754193, 503802399, 73.4019, 18.0091, 0.0158971, 0.0285193, 0.0562323, -0.62841, 0.775323
|
| 118 |
+
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363, 1710754410, 750233309, 26.4305, 46.0263, 4.17069, -0.0463923, 0.0668418, 0.0924935, 0.992383
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| 366 |
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364, 1710754411, 850215409, 27.5094, 46.2516, 4.17848, -0.0511088, 0.053325, 0.142107, 0.987092
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| 367 |
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365, 1710754413, 50195909, 28.6178, 46.5046, 4.19063, -0.0530136, 0.0386165, 0.122284, 0.990326
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| 368 |
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366, 1710754414, 150198650, 29.6839, 46.6928, 4.18323, -0.0591212, 0.0409006, 0.124473, 0.989615
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| 369 |
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367, 1710754415, 150181850, 30.6765, 46.8428, 4.1767, -0.0633265, 0.0668265, 0.139519, 0.98593
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| 370 |
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368, 1710754416, 450160150, 31.7452, 46.7813, 4.19977, -0.0235361, 0.0801406, -0.305613, 0.948485
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| 371 |
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369, 1710754417, 750138350, 32.083, 45.8101, 4.25202, 0.0168249, 0.0766238, -0.66137, 0.745946
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| 372 |
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370, 1710754418, 950120413, 32.2083, 44.7708, 4.25649, 0.00742944, 0.0699184, -0.657033, 0.750576
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| 373 |
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371, 1710754420, 50102013, 32.4353, 43.6974, 4.25118, -0.00666281, 0.0699899, -0.605219, 0.792948
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| 374 |
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372, 1710754421, 50085313, 32.6735, 42.6906, 4.2516, -0.00408104, 0.0865796, -0.655569, 0.750144
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| 375 |
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373, 1710754422, 250067878, 32.5372, 41.6205, 4.26899, -0.0325144, -0.0639726, 0.90543, -0.418386
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| 376 |
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374, 1710754423, 350049878, 31.6373, 41.1272, 4.26349, -0.0745184, -0.0575262, 0.983479, -0.15462
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| 377 |
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375, 1710754424, 450031978, 30.4677, 40.9041, 4.26522, -0.0660587, -0.0478687, 0.991292, -0.103373
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| 378 |
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376, 1710754425, 450015578, 29.4099, 40.7838, 4.26988, -0.0361179, -0.0485697, 0.991998, -0.110803
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| 379 |
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377, 1710754426, 449999178, 28.3177, 40.6443, 4.24794, -0.040602, -0.0561902, 0.992155, -0.104031
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| 380 |
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378, 1710754427, 349984378, 27.3084, 40.4562, 4.23325, -0.0635378, -0.0486439, 0.993868, -0.0763111
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| 381 |
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379, 1710754428, 249969678, 26.2978, 40.2611, 4.25295, -0.0729752, -0.0504397, 0.992379, -0.0855187
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| 382 |
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380, 1710754429, 349951578, 25.097, 40.0195, 4.24285, -0.0578229, -0.045774, 0.99433, -0.076613
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| 383 |
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381, 1710754430, 349935278, 23.9986, 39.8963, 4.21929, -0.0667327, -0.0578134, 0.992579, -0.0836167
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| 384 |
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382, 1710754431, 349918878, 22.9061, 39.7883, 4.2109, -0.0606514, -0.0588205, 0.989574, -0.116636
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| 385 |
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383, 1710754432, 349902478, 21.7986, 39.6349, 4.22212, -0.0790011, -0.0592036, 0.989517, -0.105399
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| 386 |
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384, 1710754433, 349886078, 20.755, 39.5214, 4.22465, -0.062814, -0.0481654, 0.98972, -0.119115
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| 387 |
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385, 1710754434, 349869678, 19.6904, 39.3562, 4.21153, -0.0737623, -0.0490842, 0.987211, -0.132529
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| 388 |
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386, 1710754435, 349853378, 18.6122, 39.1808, 4.19913, -0.0589777, -0.0437079, 0.99122, -0.109976
|
| 389 |
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387, 1710754436, 549833778, 17.3439, 38.892, 4.20775, -0.0792031, -0.0555964, 0.989264, -0.109507
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| 390 |
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388, 1710754437, 549817378, 16.3548, 38.6483, 4.18275, -0.0559107, -0.0575402, 0.990854, -0.108493
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| 391 |
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389, 1710754438, 549800978, 15.274, 38.4103, 4.1771, -0.0831698, -0.0711101, 0.989253, -0.0969749
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| 392 |
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390, 1710754439, 549784578, 14.2409, 38.1674, 4.20193, -0.0859909, -0.0766808, 0.984728, -0.130521
|
| 393 |
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391, 1710754440, 549768278, 13.1509, 38.1073, 4.21529, -0.0692761, -0.036219, 0.993793, -0.0791426
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| 394 |
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392, 1710754441, 649750178, 11.9631, 37.9638, 4.18671, -0.061514, -0.038182, 0.993652, -0.0861062
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| 395 |
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393, 1710754442, 649733778, 10.8496, 37.7535, 4.15936, -0.0634996, -0.044518, 0.991359, -0.105795
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| 396 |
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394, 1710754443, 549719078, 9.81757, 37.5783, 4.13636, -0.0878451, -0.0521473, 0.986761, -0.12596
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| 397 |
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395, 1710754444, 449704378, 8.83986, 37.3538, 4.16623, -0.0774966, -0.0572861, 0.98289, -0.156972
|
| 398 |
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396, 1710754445, 549686378, 7.69954, 37.1576, 4.17618, -0.0607555, -0.0382478, 0.993982, -0.0827359
|
| 399 |
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397, 1710754446, 549669978, 6.62793, 37.152, 4.1655, -0.0711452, -0.0328731, 0.992863, 0.0898896
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| 400 |
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398, 1710754447, 499654378, 5.71675, 37.5748, 4.1343, -0.0960911, -0.00939858, 0.888805, 0.448001
|
| 401 |
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399, 1710754448, 499637978, 5.13074, 38.4616, 4.15455, -0.101042, 0.0177719, 0.83776, 0.536314
|
| 402 |
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400, 1710754449, 599619978, 4.62346, 39.4165, 4.16398, -0.0909834, 0.000594492, 0.910052, 0.404385
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| 403 |
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401, 1710754450, 999599784, 3.62191, 39.8093, 4.14751, -0.0813571, -0.0646319, 0.994587, -4.87435e-05
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| 404 |
+
402, 1710754451, 999583384, 2.54875, 39.8712, 4.15918, -0.089147, -0.0494957, 0.994467, -0.0252731
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| 405 |
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403, 1710754452, 999566984, 1.53806, 39.7889, 4.17776, -0.0709153, -0.0533067, 0.994007, -0.0638716
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| 406 |
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404, 1710754454, 99548984, 0.454154, 39.6014, 4.17707, -0.058822, -0.0439572, 0.97687, -0.200829
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| 407 |
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405, 1710754455, 199535225, -0.507412, 39.1261, 4.1598, -0.0671073, -0.0739328, 0.977006, -0.188386
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| 408 |
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406, 1710754456, 299517225, -1.51726, 39.0002, 4.16091, -0.112786, -0.0557721, 0.975215, 0.182
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| 409 |
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407, 1710754457, 499497625, -2.2172, 39.726, 4.15917, -0.0780141, 0.00113327, 0.895719, 0.437722
|
| 410 |
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408, 1710754458, 599479525, -2.8325, 40.6276, 4.15078, -0.103221, -0.0118252, 0.918253, 0.382123
|
| 411 |
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409, 1710754459, 699461525, -3.71313, 41.2542, 4.1597, -0.164621, -0.0317896, 0.977131, 0.130785
|
| 412 |
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410, 1710754461, 199434656, -4.70333, 41.4984, 4.0211, -0.241963, -0.0413408, 0.969292, 0.0147852
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| 413 |
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411, 1710754462, 899406756, -5.71044, 41.4943, 4.03648, -0.285303, -0.0184959, 0.957369, -0.0412963
|
| 414 |
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412, 1710754464, 899376050, -6.76948, 41.3858, 4.03287, -0.0843051, -0.0919458, 0.9504, -0.284918
|
| 415 |
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413, 1710754466, 99357050, -7.72077, 40.7243, 3.89303, -0.078277, -0.088032, 0.909856, -0.397851
|
| 416 |
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414, 1710754467, 99338648, -8.68005, 40.2279, 3.89369, -0.0822907, -0.0602333, 0.983395, -0.150113
|
| 417 |
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415, 1710754468, 99322848, -9.74396, 40.0518, 3.87731, -0.064367, -0.0572582, 0.995484, -0.0398836
|
| 418 |
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416, 1710754469, 99306948, -10.8063, 40.0989, 3.86745, -0.0403874, -0.0540466, 0.997721, -0.000158331
|
| 419 |
+
417, 1710754470, 599283048, -11.824, 40.1821, 3.77256, -0.040762, -0.0423977, 0.998192, -0.012422
|
| 420 |
+
418, 1710754472, 99252648, -12.8185, 40.1547, 3.3804, -0.0462709, -0.030651, 0.997461, -0.0446305
|
| 421 |
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419, 1710754473, 499229048, -13.7809, 40.1463, 3.00388, -0.0290961, -0.0412051, 0.996094, -0.0724729
|
| 422 |
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420, 1710754474, 799207048, -14.7581, 40.053, 2.63225, -0.0494321, -0.0479617, 0.991917, -0.106568
|
| 423 |
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421, 1710754476, 99185148, -15.672, 39.8378, 2.2495, -0.0341384, -0.0397806, 0.991382, -0.120055
|
| 424 |
+
422, 1710754477, 499161548, -16.6072, 39.4912, 1.87164, -0.0336612, -0.036461, 0.986074, -0.15873
|
| 425 |
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423, 1710754478, 467471000, -17.5822, 39.2546, 1.74136, -0.0903339, -0.0479452, 0.990048, -0.0966794
|
| 426 |
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424, 1710754479, 499127748, -18.5792, 39.454, 1.73946, -0.0647307, -0.00455902, 0.956302, 0.28509
|
| 427 |
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425, 1710754480, 499110848, -19.2106, 40.2354, 1.757, -0.0856074, 0.0197191, 0.776927, 0.623432
|
| 428 |
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426, 1710754481, 499096323, -19.227, 41.2947, 1.77614, -0.0550397, 0.0328494, 0.627489, 0.775983
|
| 429 |
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427, 1710754482, 699076023, -18.8901, 42.2804, 1.7711, -0.0478599, 0.0538626, 0.331798, 0.940595
|
| 430 |
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428, 1710754486, 999008894, -17.924, 42.6045, 1.76028, -0.0505199, 0.0820361, 0.16669, 0.981291
|
| 431 |
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429, 1710754488, 998976694, -16.9748, 42.8533, 1.52592, -0.0317256, 0.0979451, 0.134097, 0.985606
|
| 432 |
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430, 1710754490, 698949194, -16.0098, 43.0684, 1.15233, -0.0401842, 0.102016, 0.110456, 0.987814
|
| 433 |
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431, 1710754492, 398921694, -15.0993, 43.2825, 0.702795, -0.0355191, 0.00816913, 0.0942505, 0.994881
|
| 434 |
+
432, 1710754493, 998895994, -14.0353, 43.4717, 0.349825, -0.043569, 0.149097, 0.120282, 0.980512
|
| 435 |
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433, 1710754495, 698868594, -13.1092, 43.7639, 0.0667427, 0.0905502, 0.301261, 0.0154594, 0.949107
|
| 436 |
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434, 1710754498, 798818494, -12.096, 43.9442, 0.0478922, 0.128812, 0.320897, -0.211528, 0.91416
|
| 437 |
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435, 1710754501, 248778994, -11.0973, 43.9415, -0.0358472, -0.0294665, 0.154144, -0.0449812, 0.986584
|
| 438 |
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436, 1710754502, 448759694, -10.1259, 43.453, -0.0354494, -0.000381394, 0.134051, -0.400997, 0.906218
|
| 439 |
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437, 1710754503, 448743594, -9.51571, 42.6605, -0.001209, 0.0159156, 0.12714, -0.562979, 0.816478
|
| 440 |
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438, 1710754504, 548725794, -9.20419, 41.6576, 0.0354452, 0.022473, 0.113565, -0.613452, 0.781201
|
| 441 |
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439, 1710754505, 548709694, -9.02782, 40.6336, 0.0431725, -0.00539385, 0.0900372, -0.62084, 0.778731
|
| 442 |
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440, 1710754506, 548693594, -8.91946, 39.5311, 0.060623, 0.00588013, 0.0846211, -0.633121, 0.769391
|
| 443 |
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441, 1710754507, 448679094, -8.76284, 38.5351, 0.0703748, -0.0155924, 0.084889, -0.609389, 0.78816
|
| 444 |
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442, 1710754508, 348664494, -8.51336, 37.5585, 0.0529201, -0.0188347, 0.0700608, -0.625176, 0.777105
|
| 445 |
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443, 1710754509, 348648394, -8.20624, 36.5239, 0.0426241, -0.0152267, 0.066069, -0.63338, 0.770865
|
| 446 |
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444, 1710754510, 348632194, -7.9433, 35.4596, 0.0566815, -0.0036457, 0.0792702, -0.627187, 0.774816
|
| 447 |
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445, 1710754511, 448614594, -7.72034, 34.3898, 0.0496028, -0.0121342, 0.0824573, -0.715715, 0.693402
|
| 448 |
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446, 1710754512, 848591894, -8.22389, 33.5148, 0.0452104, -0.0677115, -0.0833793, 0.991555, -0.0726744
|
| 449 |
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447, 1710754514, 148570994, -9.30677, 33.5236, 0.0658533, -0.0355272, -0.0377088, 0.997093, 0.0558626
|
| 450 |
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448, 1710754515, 248553194, -10.3675, 33.5228, 0.0749358, -0.0603157, -0.0213536, 0.994536, 0.0824925
|
| 451 |
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449, 1710754516, 348535394, -11.44, 33.4666, 0.0723942, -0.0456898, -0.0414427, 0.996876, -0.0493294
|
| 452 |
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450, 1710754517, 248520894, -12.4492, 33.2952, 0.103111, -0.0455705, -0.0510488, 0.993786, -0.0877897
|
| 453 |
+
451, 1710754518, 348503194, -13.509, 33.0204, 0.0831215, -0.0606312, -0.0569233, 0.989307, -0.119817
|
| 454 |
+
452, 1710754519, 748480594, -14.4924, 32.8907, -0.345968, -0.0211226, -0.0398324, 0.993, -0.109172
|
| 455 |
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453, 1710754520, 848462894, -15.4602, 32.6566, -0.686251, -0.02138, -0.0499005, 0.983615, -0.171913
|
| 456 |
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454, 1710754521, 648449994, -16.4416, 32.3206, -0.709179, -0.095638, -0.0539012, 0.984265, -0.138458
|
| 457 |
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455, 1710754522, 448437094, -17.4289, 31.9989, -0.761051, -0.0707045, -0.0682892, 0.984337, -0.146349
|
| 458 |
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456, 1710754523, 248424194, -18.4217, 31.7423, -0.79089, -0.0503663, -0.0566933, 0.983894, -0.161868
|
| 459 |
+
457, 1710754524, 48411294, -19.4376, 31.4609, -0.806462, -0.0546407, -0.0612774, 0.983483, -0.161312
|
| 460 |
+
458, 1710754524, 848396074, -20.431, 31.2315, -0.854436, -0.0574832, -0.0512634, 0.990998, -0.109506
|
| 461 |
+
459, 1710754525, 748381574, -21.4619, 31.0741, -0.885707, -0.0822753, -0.0567704, 0.991353, -0.0850077
|
| 462 |
+
460, 1710754527, 148359074, -22.4223, 31.0308, -1.32324, 0.00689979, -0.0485056, 0.979322, -0.196287
|
| 463 |
+
461, 1710754528, 448330819, -23.3414, 30.6359, -1.66614, -0.0434171, -0.0884629, 0.957747, -0.270203
|
| 464 |
+
462, 1710754529, 448314319, -24.0145, 29.7955, -1.7549, 0.0661838, 0.106092, -0.827247, 0.547747
|
| 465 |
+
463, 1710754530, 448297819, -24.3342, 28.7933, -1.77546, -0.00379663, 0.0705456, -0.759642, 0.646493
|
| 466 |
+
464, 1710754531, 348282819, -24.4527, 27.7142, -1.74992, 0.0192802, 0.0867232, -0.736461, 0.670621
|
| 467 |
+
465, 1710754532, 248268019, -24.5972, 26.6205, -1.73235, 0.0244114, 0.103841, -0.765377, 0.63468
|
| 468 |
+
466, 1710754533, 148253119, -24.9683, 25.5996, -1.75793, 0.0487607, 0.098554, -0.804971, 0.583036
|
| 469 |
+
467, 1710754534, 148236619, -25.663, 24.7483, -1.74345, -0.0481868, -0.0619342, 0.936573, -0.341573
|
| 470 |
+
468, 1710754535, 148220119, -26.5924, 24.0814, -1.73212, -0.0516291, -0.0481025, 0.937137, -0.341754
|
| 471 |
+
469, 1710754536, 248201919, -27.4504, 23.2649, -1.7649, 0.0247274, 0.0840428, -0.82773, 0.554246
|
| 472 |
+
470, 1710754537, 248185419, -27.8203, 22.2288, -1.80055, -0.00432194, 0.0658794, -0.706205, 0.704923
|
| 473 |
+
471, 1710754538, 148170619, -27.905, 21.2101, -1.79144, 0.0260065, 0.0805336, -0.715899, 0.693056
|
| 474 |
+
472, 1710754539, 348150719, -28.0529, 20.2349, -1.9603, 0.0601626, 0.0724373, -0.792311, 0.602808
|
| 475 |
+
473, 1710754540, 548130919, -28.9088, 19.4414, -1.93736, -0.0779513, -0.0660646, 0.973074, -0.206605
|
| 476 |
+
474, 1710754541, 448116119, -29.9179, 19.1509, -1.95584, -0.0542806, -0.0537362, 0.986501, -0.144849
|
| 477 |
+
475, 1710754542, 248102819, -30.9205, 19.0307, -1.93405, -0.0673305, -0.0481451, 0.99347, -0.0785278
|
| 478 |
+
476, 1710754543, 48089719, -31.9313, 18.8758, -1.97126, -0.0464987, -0.0506876, 0.992614, -0.0999338
|
| 479 |
+
477, 1710754543, 848076419, -32.9411, 18.5793, -1.94358, -0.0615934, -0.0544096, 0.992036, -0.0954449
|
| 480 |
+
478, 1710754544, 648063219, -33.9923, 18.3213, -1.98558, -0.0594366, -0.0586911, 0.995443, -0.0460019
|
| 481 |
+
479, 1710754545, 648046719, -35.2008, 18.3539, -1.9846, -0.0659287, -0.0475316, 0.995633, 0.0459213
|
| 482 |
+
480, 1710754546, 548031919, -36.3205, 18.429, -1.93914, -0.0672659, -0.0529361, 0.995303, -0.0452188
|
| 483 |
+
481, 1710754547, 400320000, -37.3524, 18.3247, -1.97354, -0.0429837, -0.0581703, 0.99691, -0.0306328
|
| 484 |
+
482, 1710754548, 248003719, -38.3863, 18.2403, -1.95119, -0.0582915, -0.0546316, 0.996688, -0.0151828
|
| 485 |
+
483, 1710754549, 198459000, -39.4986, 18.2698, -1.93395, -0.0693758, -0.0466215, 0.991219, 0.102466
|
| 486 |
+
484, 1710754550, 197971519, -40.5112, 18.707, -1.95497, -0.0724153, -0.0278108, 0.929016, 0.361817
|
| 487 |
+
485, 1710754551, 197955019, -41.1847, 19.5846, -1.9641, -0.0754952, -0.00964913, 0.840425, 0.536556
|
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sequences/2024-03-18-christ-church-02/processed/vilens-slam/undist-clouds.zip
ADDED
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sequences/2024-03-18-christ-church-02/raw/images.zip
ADDED
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sequences/2024-03-18-christ-church-02/raw/imu.csv
ADDED
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sequences/2024-03-18-christ-church-02/raw/lidar-clouds.zip
ADDED
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version https://git-lfs.github.com/spec/v1
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size 4281988422
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sequences/2024-03-18-christ-church-02/raw/ros2bag/1710754066_2024-03-18-09-27-47_0/1710754066_2024-03-18-09-27-47_0_blurred_filtered_compressed.db3
ADDED
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version https://git-lfs.github.com/spec/v1
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sequences/2024-03-18-christ-church-02/raw/ros2bag/1710754066_2024-03-18-09-27-47_0/metadata.yaml
ADDED
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rosbag2_bagfile_information:
|
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compression_format: ''
|
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compression_mode: ''
|
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custom_data: {}
|
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duration:
|
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nanoseconds: 520737939891
|
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files:
|
| 8 |
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- duration:
|
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